CN112283495B - 两自由度压电惯性驱动管道机器人 - Google Patents
两自由度压电惯性驱动管道机器人 Download PDFInfo
- Publication number
- CN112283495B CN112283495B CN202011131266.1A CN202011131266A CN112283495B CN 112283495 B CN112283495 B CN 112283495B CN 202011131266 A CN202011131266 A CN 202011131266A CN 112283495 B CN112283495 B CN 112283495B
- Authority
- CN
- China
- Prior art keywords
- piezoelectric
- main body
- hole
- groove
- connecting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 235000014676 Phragmites communis Nutrition 0.000 claims abstract description 10
- 230000035939 shock Effects 0.000 claims description 23
- 238000010521 absorption reaction Methods 0.000 claims description 16
- 239000000919 ceramic Substances 0.000 claims description 14
- 238000002347 injection Methods 0.000 claims description 11
- 239000007924 injection Substances 0.000 claims description 11
- 238000004806 packaging method and process Methods 0.000 claims description 10
- 239000002184 metal Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 abstract description 2
- 230000005284 excitation Effects 0.000 description 16
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 239000012528 membrane Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 210000004027 cell Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 244000089486 Phragmites australis subsp australis Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000170 cell membrane Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000968 intestinal effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000520 microinjection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
- H02N2/062—Small signal circuits; Means for controlling position or derived quantities, e.g. for removing hysteresis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Mechanical Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011131266.1A CN112283495B (zh) | 2020-10-21 | 2020-10-21 | 两自由度压电惯性驱动管道机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011131266.1A CN112283495B (zh) | 2020-10-21 | 2020-10-21 | 两自由度压电惯性驱动管道机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112283495A CN112283495A (zh) | 2021-01-29 |
CN112283495B true CN112283495B (zh) | 2022-03-15 |
Family
ID=74423956
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011131266.1A Active CN112283495B (zh) | 2020-10-21 | 2020-10-21 | 两自由度压电惯性驱动管道机器人 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112283495B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113374983B (zh) * | 2021-05-08 | 2022-08-23 | 上海工程技术大学 | 一种压电驱动的微型管道检测机器人 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10107402A1 (de) * | 2001-02-14 | 2002-08-29 | Ruben Keoschkerjan | Piezoelektrischer paralleler Mikrogreifer |
CN1488472A (zh) * | 2003-07-31 | 2004-04-14 | 浙江大学 | 特种微小管道机器人驱动器 |
CN2758035Y (zh) * | 2004-11-15 | 2006-02-15 | 北京工业大学 | 一种实现微切剖作业的微操作器装置 |
CN105832419A (zh) * | 2016-05-06 | 2016-08-10 | 济南创泽生物医药科技有限公司 | 一种微操精准手术机器人 |
CN109237204A (zh) * | 2018-10-25 | 2019-01-18 | 南通理工学院 | 一种管道外壁涂层检测与自动修补机器人 |
CN109483515A (zh) * | 2018-11-22 | 2019-03-19 | 天津大学 | 一种基于柔顺放大机构的内嵌驱动式恒力微夹持器 |
-
2020
- 2020-10-21 CN CN202011131266.1A patent/CN112283495B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10107402A1 (de) * | 2001-02-14 | 2002-08-29 | Ruben Keoschkerjan | Piezoelektrischer paralleler Mikrogreifer |
CN1488472A (zh) * | 2003-07-31 | 2004-04-14 | 浙江大学 | 特种微小管道机器人驱动器 |
CN2758035Y (zh) * | 2004-11-15 | 2006-02-15 | 北京工业大学 | 一种实现微切剖作业的微操作器装置 |
CN105832419A (zh) * | 2016-05-06 | 2016-08-10 | 济南创泽生物医药科技有限公司 | 一种微操精准手术机器人 |
CN109237204A (zh) * | 2018-10-25 | 2019-01-18 | 南通理工学院 | 一种管道外壁涂层检测与自动修补机器人 |
CN109483515A (zh) * | 2018-11-22 | 2019-03-19 | 天津大学 | 一种基于柔顺放大机构的内嵌驱动式恒力微夹持器 |
Also Published As
Publication number | Publication date |
---|---|
CN112283495A (zh) | 2021-01-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN1027667C (zh) | 向物体施加力的装置 | |
EP1848046B1 (en) | Transducers of electroactive polymers | |
CN112283495B (zh) | 两自由度压电惯性驱动管道机器人 | |
CN104578901B (zh) | 一种行走式压电旋转马达 | |
CN107834897B (zh) | 基于压电驱动的爬行作动器及其工作方法 | |
CN106911264B (zh) | 轻小型单压电叠堆驱动式双向旋转惯性作动器及作动方法 | |
CN109889086B (zh) | 一种三自由度压电驱动微纳操控机械臂及其激励方法 | |
JPH0937571A (ja) | 積層型アクチュエータおよび移動装置 | |
CN107070300A (zh) | 一种具有钳位功能的双压电堆角位移作动器及方法 | |
JP6356461B2 (ja) | 制御システム及び制御方法 | |
CN101011825A (zh) | 安全型可变刚度机械关节 | |
CN109861582B (zh) | 一种惯性旋转压电马达 | |
Liu et al. | An in-pipe micro robot actuated by piezoelectric bimorphs | |
CN111113397A (zh) | 水下压力自适应的机电混合驱控软体智能机械臂 | |
JPH10109284A (ja) | マイクロマニピュレータとその駆動方法 | |
CN210161196U (zh) | 一种机器人的多自由度关节构件 | |
CN112910310A (zh) | 一种可带大负载的惯性冲击式压电驱动器及其驱动方法 | |
CN210344196U (zh) | 单自由度进给放大装置 | |
CN116232117A (zh) | 一种蝶式相向冲击抑制回退的旋转驱动器 | |
CN108054949B (zh) | 一种多压电振子双向旋转驱动器 | |
CN112953297B (zh) | 一种旋转惯性压电电机结构 | |
CN116945144A (zh) | 用于机器人的柔性执行机械臂 | |
CN209925540U (zh) | 精密进给执行器与平台 | |
Wilson et al. | Bellows-type springs for robotics | |
Zhang et al. | A Novel Design of Rotated Piezoelectric Actuators based on Impact Driving Principle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220617 Address after: 230000 b-1018, Woye Garden commercial office building, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee after: HEFEI WISDOM DRAGON MACHINERY DESIGN Co.,Ltd. Address before: 066004 No. 438 west section of Hebei Avenue, seaport District, Hebei, Qinhuangdao Patentee before: Yanshan University |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20221214 Address after: 323999 Room 3002, Building 5, Baiyue City, Ounan Street, Qingtian County, Lishui City, Zhejiang Province Patentee after: Zhejiang Qinghe Construction Co.,Ltd. Address before: 230000 b-1018, Woye Garden commercial office building, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee before: HEFEI WISDOM DRAGON MACHINERY DESIGN Co.,Ltd. |
|
TR01 | Transfer of patent right |